Motion planning of 3D objects using Rapidly Exploring Random Tree guided by approximate solutions

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00327564" target="_blank" >RIV/68407700:21230/18:00327564 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1109/ETFA.2018.8502446" target="_blank" >http://dx.doi.org/10.1109/ETFA.2018.8502446</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ETFA.2018.8502446" target="_blank" >10.1109/ETFA.2018.8502446</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Motion planning of 3D objects using Rapidly Exploring Random Tree guided by approximate solutions

Popis výsledku v původním jazyce

Path planning of 3D objects, where the task is to find a collision-free path for a rigid 3D object among obstacles, is studied in this paper. This task has many applications mainly in robotics, but also in other fields, e.g., in computer-aided design and computational biology. Sampling-based approaches like Rapidly Exploring Random Trees (RRT) solve the problem by randomized search in the corresponding configuration space. A well known bottleneck of sampling-based methods is the narrow passage problem. Narrow passages are small regions in the configuration space that are difficult to cover by the random samples, which prevents to find a path leading through them. In this paper, we propose a novel extension to Rapidly Exploring Random Tree (RRT) to cope with the narrow passage problem. The proposed planner first solves a simplified (relaxed) version of the problem which is achieved, e.g., by reducing the geometry of the robot. This approximate solution is then used to guide the search in the configuration space for a less relaxed version of the problem, i.e., for a larger robot. The proposed approach is compared to several state-of-the-art path planners in a set of 3D planning benchmarks. Besides, the method is verified also in the task of computing exit pathways for small molecules (ligand) from a protein.

Název v anglickém jazyce

Motion planning of 3D objects using Rapidly Exploring Random Tree guided by approximate solutions

Popis výsledku anglicky

Path planning of 3D objects, where the task is to find a collision-free path for a rigid 3D object among obstacles, is studied in this paper. This task has many applications mainly in robotics, but also in other fields, e.g., in computer-aided design and computational biology. Sampling-based approaches like Rapidly Exploring Random Trees (RRT) solve the problem by randomized search in the corresponding configuration space. A well known bottleneck of sampling-based methods is the narrow passage problem. Narrow passages are small regions in the configuration space that are difficult to cover by the random samples, which prevents to find a path leading through them. In this paper, we propose a novel extension to Rapidly Exploring Random Tree (RRT) to cope with the narrow passage problem. The proposed planner first solves a simplified (relaxed) version of the problem which is achieved, e.g., by reducing the geometry of the robot. This approximate solution is then used to guide the search in the configuration space for a less relaxed version of the problem, i.e., for a larger robot. The proposed approach is compared to several state-of-the-art path planners in a set of 3D planning benchmarks. Besides, the method is verified also in the task of computing exit pathways for small molecules (ligand) from a protein.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GA17-07690S" target="_blank" >GA17-07690S: Metody identifikace a vizualizace tunelů pro flexibilní ligandy v dynamických proteinech</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2018

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings 2018 IEEE 23rd International Conference on Emerging Technologies and Factory Automation (ETFA)

ISBN

978-1-5386-7108-5

ISSN

—

e-ISSN

1946-0759

Počet stran výsledku

8

Strana od-do

713-720

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Torino

Datum konání akce

4. 9. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000449334500089